Glider dive log

Totten Dec14 * SG017 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 17 HD_B 0.0099999998 PITCH_ADJ_DBAND 1 COMPASS_USE 4

MISSION 16 HD_C 2.8e-05 ROLL_MIN 233 ALTIM_BOTTOM_PING_RANGE 0

DIVE 5 HEADING -1 ROLL_MAX 3877 ALTIM_TOP_PING_RANGE 0

N_DIVES 5 ESCAPE_HEADING 0 ROLL_DEG 33 ALTIM_BOTTOM_TURN_MARGIN 20

D_SURF 2 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2500 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0.5 C_ROLL_CLIMB 2000 ALTIM_TOP_MIN_OBSTACLE 0

D_TGT 300 TGT_DEFAULT_LAT 66 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

D_ABORT 350 TGT_DEFAULT_LON 6 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

D_NO_BLEED 100 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_BOOST 2 SM_CC 350 R_PORT_OVSHOOT 15 ALTIM_PULSE 3

T_BOOST 0 N_FILEKB 8 R_STBD_OVSHOOT 14 ALTIM_SENSITIVITY 3

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 320 XPDR_VALID 0

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 XPDR_INHIBIT 90

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 PROTOCOL 9 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 452 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_MAX 3835 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 C_VBD 2520 DEVICE1 2

T_DIVE 100 UPLOAD_DIVES_MAX 2 VBD_DBAND 2 DEVICE2 37

T_MISSION 130 CALL_TRIES 3 VBD_CNV -0.24529999 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 VBD_TIMEOUT 540 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.001 DEVICE5 -1

T_TURN_SAMPINT -5 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 0

T_LOITER 0 T_GPS 3 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_EPIRB 0 N_GPS 20 UNCOM_BLEED 20 LOGGERDEVICE2 -1

USE_BATHY -1 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

USE_ICE 0 T_RSLEEP 3 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 DBDW 0 COMPASS_DEVICE 97

D_OFFGRID 300 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 GPS_DEVICE 32

APOGEE_PITCH -5 PITCH_MIN 584 AH0_24V 90 RAFOS_DEVICE 16

MAX_BUOY 150 PITCH_MAX 3731 AH0_10V 78 XPDR_DEVICE 24

COURSE_BIAS 0 C_PITCH 2580 MINV_24V 22 SIM_W 0

GLIDE_SLOPE 30 PITCH_DBAND 0.1 MINV_10V 9.5 SIM_PITCH 0

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 FG_AHR_10V 0 SEABIRD_T_G 0.004332595

RHO 1.02775 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_T_H 0.00063243619

MASS 52210 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.4193625e-05

MASS_COMP 0 PITCH_GAIN 20 PRESSURE_YINT -4.7807236 SEABIRD_T_J 2.5746874e-06

NAV_MODE 2 PITCH_TIMEOUT 16 PRESSURE_SLOPE 9.1207337e-05 SEABIRD_C_G -9.8293695

FERRY_MAX 60 PITCH_AD_RATE 130 AD7714Ch0Gain 64 SEABIRD_C_H 1.1005322

KALMAN_USE 2 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0015286342

HD_A 0.003 PITCH_ADJ_GAIN 0.029999999 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0002052265

AD7714Ch0Gain 64 D_OFFGRID 300 PHONE_DEVICE 49 SEABIRD_T_J 2.5746874e-06

AH0_10V 78 D_PITCH 0 PHONE_SUPPLY -2 SIM_PITCH 0

AH0_24V 90 D_SAFE 0 PITCH_ADJ_DBAND 1 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_ADJ_GAIN 0.029999999 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 20 D_TGT 300 PITCH_AD_RATE 130 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 STROBE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 60 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAX 3731 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_MIN 584 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0.5 PITCH_TIMEOUT 16 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 66

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_DBAND 0 TGT_DEFAULT_LON 6

CALL_NDIVES 1 HD_A 0.003 PITCH_W_GAIN 0 T_ABORT 1440

CALL_TRIES 3 HD_B 0.0099999998 PRESSURE_SLOPE 9.1207337e-05 T_BOOST 0

CALL_WAIT 60 HD_C 2.8e-05 PRESSURE_YINT -4.7807236 T_DIVE 100

CAPMAXSIZE 100000 HEADING -1 PROTOCOL 9 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_GPS 3

CF8_MAXERRORS 0 HEAPDBG 0 P_OVSHOOT_WITHG 0 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 17 RAFOS_DEVICE 16 T_MISSION 130

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 2 RELAUNCH 1 T_TURN 225

C_PITCH 2580 LOGGERDEVICE1 -1 RHO 1.02775 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2000 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_VBD 2520 LOGGERDEVICE4 -1 ROLL_AD_RATE 320 UPLOAD_DIVES_MAX 2

DBDW 0 LOGGERS 0 ROLL_CNV 0.028270001 USE_BATHY -1

DEEPGLIDER 0 MASS 52210 ROLL_DEG 33 USE_ICE 0

DEVICE1 2 MASS_COMP 0 ROLL_MAX 3877 VBD_BLEED_AD_RATE 8

DEVICE2 37 MAX_BUOY 150 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 9.5 ROLL_MIN 233 VBD_DBAND 2

DEVICE4 -1 MINV_24V 22 ROLL_TIMEOUT 15 VBD_MAX 3835

DEVICE5 -1 MISSION 16 R_PORT_OVSHOOT 15 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 14 VBD_MIN 452

DIVE 5 NAV_MODE 2 SEABIRD_C_G -9.8293695 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 350 NOCOMM_ACTION 163 SEABIRD_C_H 1.1005322 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 2 N_DIVES 5 SEABIRD_C_I -0.0015286342 VBD_TIMEOUT 540

D_CALL 0 N_FILEKB 8 SEABIRD_C_J 0.0002052265 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 20 SEABIRD_T_G 0.004332595 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00063243619 XPDR_INHIBIT 90

D_NO_BLEED 100 N_NOSURFACE 0 SEABIRD_T_I 2.4193625e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 251214,152355,-6625.529,12016.805,76,6.4,96,-106.8 SPEED_LIMITS 0.173,0.252

_CALLS 1 TGT_NAME TARGET_NE

_XMS_NAKs 0 TGT_LATLONG -6625.000,12025.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.23 MHEAD_RNG_PITCHd_Wd 191.0,6180,-17.9,-10.000,-21.61,2170

_SM_ANGLEo -61.9 D_GRID 669

GPS2 251214,152851,-6625.528,12016.765,11,6.1,31,-106.8

Post-dive calculations and measurements:

FINISH 0.3,1.021900 _10V_AH 9.84,2.019

SM_CCo 5970,105.60,0.822,1,0,1093,350.04 FG_AHR_24Vo 0.000

SM_GC 1.18,10.32,0.93,105.60,0.052,0.071,0.822,582,2502,1093,-9.15,-0.59,350.04,0,0,0,0,1,0,24.72,24.71,23.55 FG_AHR_10Vo 0.000

RAFOS_CLK 345 MEM 298524

RAFOS 0,1419523261,16.033333,16.016945,123,67,60,0,0,0,688,209,157,0,0,0 DATA_FILE_SIZE 46750,1012

RAFOS_FIX -6622.676270,12001.013672,251214,161616,2,99,6.04 CAP_FILE_SIZE 99092,0

IRIDIUM_FIX -6553.70,12008.03,251214,133540 CFSIZE 256368640,251854848

TT8_MAMPS 0.020972,0.020972 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

HUMID 69.25 INTR 0,6572.82,0x23769e,7,5

INTERNAL_PRESSURE 8.67221 SOUNDSPEED 1465.0

TCM_TEMP 12.90 CURRENT 0.050,300.97,1

XPDR_PINGS 0 GPS 251214,171325,-6625.285,12018.446,82,3.7,102,-106.8

_24V_AH 23.43,2.507

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 221 126.18 SBE_CT 673 23 378.45

Roll_motor 65 91 138.91 WL_BB2FLVMG 0 0 0.00

VBD_pump_during_apogee 282 1076 7131.30 nil 0 0 0.00

VBD_pump_during_surface 105 822 2034.73 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 185 129 561.76 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 36 12.25

TT8 2368 13 316.26

LPSleep 1600 2 36.38

TT8_Active 610 12 77.02

TT8_Sampling 1676 41 681.03

TT8_CF8 147 51 74.30

TT8_Kalman 0 0 0.00

Analog_circuits 1579 10 161.65

GPS_charging 0 0 0.00

Compass 1444 5 71.09

RAFOS 720 1 10.63

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.04 -145.9 586 2507 1113 1040 0.0 0.0 0 162 0.00 0.00 -143.32 0.000 16386 0.000 0.000 586 2507 2943 2955 2931 0 0 0 0 0 0 28.83 28.83 28.83

165 -1.04 -145.9 586 2507 2955 2932 3.3 -6.1 24 185 11.40 0.00 -5.10 0.000 18438 0.222 0.000 2345 2507 3116 3148 3084 0 0 0 0 0 0 24.43 28.83 24.88

369 -0.98 -145.9 2345 2507 3150 3084 34.3 -13.7 63 376 0.10 0.00 0.00 0.000 2054 0.149 0.000 2360 2507 3117 3150 3084 0 0 0 0 0 0 24.65 28.83 28.83

559 -0.98 -145.9 2360 2507 3150 3084 57.3 -12.0 100 566 0.00 2.12 0.00 0.000 516 0.000 0.086 2360 1339 3117 3150 3084 0 0 0 0 0 0 28.83 24.60 28.83

623 -0.98 -145.9 2360 1339 3150 3084 64.9 -11.9 112 629 0.00 2.03 0.00 0.000 1030 0.000 0.057 2360 2506 3117 3150 3084 0 0 0 0 0 0 28.83 24.67 28.83

812 -0.98 -145.9 2360 2506 3150 3084 86.3 -11.0 149 818 0.00 0.00 0.00 0.000 6 0.000 0.000 2360 2506 3117 3150 3084 0 0 0 0 0 0 28.83 28.83 28.83

1000 -0.98 -145.9 2360 2505 3150 3084 107.1 -11.0 186 1007 0.00 0.00 0.00 0.000 6 0.000 0.000 2360 2506 3117 3150 3084 0 0 0 0 0 0 28.83 28.83 28.83

1191 -0.98 -145.9 2359 2506 3150 3084 127.7 -10.3 223 1197 0.00 2.10 0.00 0.000 516 0.000 0.083 2360 1339 3117 3150 3084 0 0 0 0 0 0 28.83 24.63 28.83

1245 -0.98 -145.9 2360 1339 3150 3084 133.6 -11.0 233 1251 0.00 2.03 0.00 0.000 1030 0.000 0.060 2360 2504 3117 3150 3084 0 0 0 0 0 0 28.83 24.70 28.83

1434 -0.98 -145.9 2360 2503 3150 3084 153.5 -10.4 270 1440 0.00 0.00 0.00 0.000 6 0.000 0.000 2360 2504 3117 3150 3084 0 0 0 0 0 0 28.83 28.83 28.83

1624 -0.98 -145.9 2360 2503 3150 3084 173.8 -10.9 307 1629 0.00 0.00 0.00 0.000 6 0.000 0.000 2360 2504 3117 3150 3084 0 0 0 0 0 0 28.83 28.83 28.83

1812 -0.98 -145.9 2360 2504 3150 3084 194.6 -11.0 344 1818 0.00 2.12 0.00 0.000 516 0.000 0.086 2360 1334 3117 3150 3084 0 0 0 0 0 0 28.83 24.65 28.83

1901 -0.98 -145.9 2360 1334 3150 3084 204.4 -11.0 361 1907 0.00 2.03 0.00 0.000 1030 0.000 0.059 2360 2500 3117 3150 3084 0 0 0 0 0 0 28.83 24.72 28.83

2090 -0.98 -145.9 2360 2500 3150 3084 224.5 -10.5 398 2096 0.00 0.00 0.00 0.000 6 0.000 0.000 2360 2500 3117 3150 3084 0 0 0 0 0 0 28.83 28.83 28.83

2281 -0.98 -145.9 2359 2500 3150 3084 244.6 -10.4 435 2286 0.00 0.00 0.00 0.000 6 0.000 0.000 2360 2500 3117 3150 3084 0 0 0 0 0 0 28.83 28.83 28.83

2474 -0.98 -145.9 2360 2500 3150 3084 265.2 -10.8 452 2479 0.00 2.10 0.00 0.000 516 0.000 0.086 2360 1339 3117 3150 3084 0 0 0 0 0 0 28.83 24.68 28.83

2527 -0.98 -145.9 2359 1339 3150 3084 271.2 -10.8 463 2534 0.00 2.03 0.00 0.000 1030 0.000 0.060 2360 2501 3117 3150 3084 0 0 0 0 0 0 28.83 24.73 28.83

2714 -0.98 -145.9 2360 2501 3150 3084 291.5 -11.0 473 2715 0.00 0.00 0.00 0.000 6 0.000 0.000 2360 2501 3117 3150 3084 0 0 0 0 0 0 28.83 28.83 28.83

2792 end dive: TARGET_DEPTH_EXCEEDED

state 2792 begin apogee

2798 -0.25 0.0 2359 1987 3150 3084 300.1 -10.8 477 2922 0.85 0.00 119.70 1.076 10246 0.127 0.000 2520 1987 2520 2581 2460 0 0 0 0 0 0 24.70 28.83 23.44

2923 end apogee: CONTROL_FINISHED_OK

state 2923 begin climb

2925 1.04 145.9 2519 1987 2581 2458 305.4 0.0 483 3054 1.40 0.00 121.53 1.053 10758 0.091 0.000 2800 1987 1924 2004 1845 0 0 0 0 0 0 24.18 28.83 23.43

3235 1.12 172.1 2800 1987 2000 1831 285.1 8.8 514 3263 0.10 2.17 22.73 1.005 10500 0.102 0.079 2820 3165 1817 1904 1731 0 0 0 0 0 0 24.65 24.14 23.49

3334 1.12 172.1 2820 3165 1900 1728 275.0 10.2 534 3339 0.00 2.15 0.00 0.000 1030 0.000 0.088 2820 1998 1814 1900 1728 0 0 0 0 0 0 28.83 24.48 28.83

3532 1.13 186.5 2820 1998 1899 1723 256.2 9.3 546 3551 0.00 2.15 12.80 0.967 8452 0.000 0.079 2820 3169 1758 1846 1671 0 0 0 0 0 0 28.83 24.25 23.62

3598 1.16 186.5 2820 3169 1845 1670 249.7 10.1 559 3602 0.00 2.17 0.00 0.000 1030 0.000 0.090 2820 1992 1757 1844 1670 0 0 0 0 0 0 28.83 24.48 28.83

3785 1.20 191.8 2820 1992 1844 1667 231.6 9.7 596 3799 0.10 2.12 6.03 0.828 10500 0.103 0.078 2840 3165 1737 1825 1649 0 0 0 0 0 0 24.68 24.43 23.78

3848 1.20 191.8 2839 3166 1823 1649 224.9 11.3 607 3854 0.00 2.15 0.00 0.000 1030 0.000 0.091 2840 2000 1735 1823 1648 0 0 0 0 0 0 28.83 24.53 28.83

4037 1.20 191.8 2839 2000 1822 1647 204.5 10.5 644 4043 0.00 2.10 0.00 0.000 260 0.000 0.080 2840 3172 1735 1823 1647 0 0 0 0 0 0 28.83 24.60 28.83

4086 1.20 191.8 2839 3172 1822 1647 199.2 11.0 653 4092 0.00 2.15 0.00 0.000 1030 0.000 0.088 2840 1997 1734 1822 1647 0 0 0 0 0 0 28.83 24.60 28.83

4275 1.20 191.8 2839 1997 1821 1647 179.1 10.8 690 4283 0.00 2.10 0.00 0.000 260 0.000 0.078 2840 3174 1734 1821 1647 0 0 0 0 0 0 28.83 24.63 28.83

4326 1.20 191.8 2839 3174 1821 1647 173.6 11.8 699 4332 0.00 2.15 0.00 0.000 1030 0.000 0.086 2839 1993 1733 1821 1646 0 0 0 0 0 0 28.83 24.63 28.83

4514 1.20 191.8 2839 1993 1820 1646 153.0 11.0 736 4521 0.00 2.10 0.00 0.000 260 0.000 0.079 2840 3171 1733 1820 1646 0 0 0 0 0 0 28.83 24.64 28.83

4558 1.20 191.8 2839 3171 1820 1646 148.1 11.4 744 4564 0.00 2.15 0.00 0.000 1030 0.000 0.089 2840 1996 1733 1820 1646 0 0 0 0 0 0 28.83 24.63 28.83

4748 1.20 191.8 2839 1996 1820 1646 127.7 10.5 781 4755 0.00 2.08 0.00 0.000 260 0.000 0.078 2840 3166 1733 1820 1646 0 0 0 0 0 0 28.83 24.65 28.83

4802 1.20 191.8 2839 3166 1820 1646 121.7 11.1 791 4809 0.00 2.12 0.00 0.000 1030 0.000 0.087 2840 2000 1733 1820 1646 0 0 0 0 0 0 28.83 24.64 28.83

4992 1.20 191.8 2839 2000 1820 1646 101.9 10.1 828 4998 0.00 2.08 0.00 0.000 260 0.000 0.078 2840 3167 1733 1820 1646 0 0 0 0 0 0 28.83 24.66 28.83

5041 1.20 191.8 2839 3166 1820 1646 96.5 11.0 837 5047 0.00 2.12 0.00 0.000 1030 0.000 0.088 2839 2000 1733 1820 1646 0 0 0 0 0 0 28.83 24.65 28.83

5231 1.20 191.8 2839 2000 1820 1646 76.4 10.3 874 5238 0.00 2.08 0.00 0.000 260 0.000 0.078 2840 3166 1733 1820 1646 0 0 0 0 0 0 28.83 24.66 28.83

5290 1.20 191.8 2839 3167 1820 1646 70.1 10.9 885 5297 0.00 2.15 0.00 0.000 1030 0.000 0.090 2840 1993 1733 1820 1646 0 0 0 0 0 0 28.83 24.66 28.83

5480 1.20 191.8 2839 1992 1820 1646 49.9 10.5 922 5488 0.00 2.08 0.00 0.000 260 0.000 0.077 2840 3166 1733 1820 1646 0 0 0 0 0 0 28.83 24.68 28.83

5531 1.20 191.8 2839 3166 1819 1646 44.5 11.0 931 5537 0.00 2.12 0.00 0.000 1030 0.000 0.086 2840 1998 1732 1819 1646 0 0 0 0 0 0 28.83 24.67 28.83

5722 1.20 191.8 2840 1998 1819 1646 24.4 10.6 968 5728 0.00 2.08 0.00 0.000 260 0.000 0.075 2840 3172 1732 1819 1646 0 0 0 0 0 0 28.83 24.68 28.83

5751 1.20 191.8 2839 3172 1820 1646 21.1 10.7 973 5757 0.00 2.12 0.00 0.000 1030 0.000 0.084 2840 1998 1732 1819 1646 0 0 0 0 0 0 28.83 24.68 28.83

5934 end climb: SURFACE_DEPTH_REACHED

state 5934 begin surface coast

5950 end surface coast: CONTROL_FINISHED_OK

state 5950 begin surface

ID	17	HD_B	0.0099999998	PITCH_ADJ_DBAND	1	COMPASS_USE	4
MISSION	16	HD_C	2.8e-05	ROLL_MIN	233	ALTIM_BOTTOM_PING_RANGE	0
DIVE	5	HEADING	-1	ROLL_MAX	3877	ALTIM_TOP_PING_RANGE	0
N_DIVES	5	ESCAPE_HEADING	0	ROLL_DEG	33	ALTIM_BOTTOM_TURN_MARGIN	20
D_SURF	2	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2500	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0.5	C_ROLL_CLIMB	2000	ALTIM_TOP_MIN_OBSTACLE	0
D_TGT	300	TGT_DEFAULT_LAT	66	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
D_ABORT	350	TGT_DEFAULT_LON	6	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
D_NO_BLEED	100	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_BOOST	2	SM_CC	350	R_PORT_OVSHOOT	15	ALTIM_PULSE	3
T_BOOST	0	N_FILEKB	8	R_STBD_OVSHOOT	14	ALTIM_SENSITIVITY	3
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	320	XPDR_VALID	0
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	XPDR_INHIBIT	90
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	PROTOCOL	9	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	452	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_MAX	3835	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	C_VBD	2520	DEVICE1	2
T_DIVE	100	UPLOAD_DIVES_MAX	2	VBD_DBAND	2	DEVICE2	37
T_MISSION	130	CALL_TRIES	3	VBD_CNV	-0.24529999	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	VBD_TIMEOUT	540	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.001	DEVICE5	-1
T_TURN_SAMPINT	-5	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	0
T_LOITER	0	T_GPS	3	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_EPIRB	0	N_GPS	20	UNCOM_BLEED	20	LOGGERDEVICE2	-1
USE_BATHY	-1	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
USE_ICE	0	T_RSLEEP	3	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	DBDW	0	COMPASS_DEVICE	97
D_OFFGRID	300	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	GPS_DEVICE	32
APOGEE_PITCH	-5	PITCH_MIN	584	AH0_24V	90	RAFOS_DEVICE	16
MAX_BUOY	150	PITCH_MAX	3731	AH0_10V	78	XPDR_DEVICE	24
COURSE_BIAS	0	C_PITCH	2580	MINV_24V	22	SIM_W	0
GLIDE_SLOPE	30	PITCH_DBAND	0.1	MINV_10V	9.5	SIM_PITCH	0
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	FG_AHR_10V	0	SEABIRD_T_G	0.004332595
RHO	1.02775	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_T_H	0.00063243619
MASS	52210	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_T_I	2.4193625e-05
MASS_COMP	0	PITCH_GAIN	20	PRESSURE_YINT	-4.7807236	SEABIRD_T_J	2.5746874e-06
NAV_MODE	2	PITCH_TIMEOUT	16	PRESSURE_SLOPE	9.1207337e-05	SEABIRD_C_G	-9.8293695
FERRY_MAX	60	PITCH_AD_RATE	130	AD7714Ch0Gain	64	SEABIRD_C_H	1.1005322
KALMAN_USE	2	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0015286342
HD_A	0.003	PITCH_ADJ_GAIN	0.029999999	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0002052265

GPS1	251214,152355,-6625.529,12016.805,76,6.4,96,-106.8	SPEED_LIMITS	0.173,0.252
_CALLS	1	TGT_NAME	TARGET_NE
_XMS_NAKs	0	TGT_LATLONG	-6625.000,12025.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.23	MHEAD_RNG_PITCHd_Wd	191.0,6180,-17.9,-10.000,-21.61,2170
_SM_ANGLEo	-61.9	D_GRID	669
GPS2	251214,152851,-6625.528,12016.765,11,6.1,31,-106.8

FINISH	0.3,1.021900	_10V_AH	9.84,2.019
SM_CCo	5970,105.60,0.822,1,0,1093,350.04	FG_AHR_24Vo	0.000
SM_GC	1.18,10.32,0.93,105.60,0.052,0.071,0.822,582,2502,1093,-9.15,-0.59,350.04,0,0,0,0,1,0,24.72,24.71,23.55	FG_AHR_10Vo	0.000
RAFOS_CLK	345	MEM	298524
RAFOS	0,1419523261,16.033333,16.016945,123,67,60,0,0,0,688,209,157,0,0,0	DATA_FILE_SIZE	46750,1012
RAFOS_FIX	-6622.676270,12001.013672,251214,161616,2,99,6.04	CAP_FILE_SIZE	99092,0
IRIDIUM_FIX	-6553.70,12008.03,251214,133540	CFSIZE	256368640,251854848
TT8_MAMPS	0.020972,0.020972	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
HUMID	69.25	INTR	0,6572.82,0x23769e,7,5
INTERNAL_PRESSURE	8.67221	SOUNDSPEED	1465.0
TCM_TEMP	12.90	CURRENT	0.050,300.97,1
XPDR_PINGS	0	GPS	251214,171325,-6625.285,12018.446,82,3.7,102,-106.8
_24V_AH	23.43,2.507

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	221	126.18	SBE_CT	673	23	378.45
Roll_motor	65	91	138.91	WL_BB2FLVMG	0	0	0.00
VBD_pump_during_apogee	282	1076	7131.30	nil	0	0	0.00
VBD_pump_during_surface	105	822	2034.73	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	185	129	561.76	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	36	12.25
TT8	2368	13	316.26
LPSleep	1600	2	36.38
TT8_Active	610	12	77.02
TT8_Sampling	1676	41	681.03
TT8_CF8	147	51	74.30
TT8_Kalman	0	0	0.00
Analog_circuits	1579	10	161.65
GPS_charging	0	0	0.00
Compass	1444	5	71.09
RAFOS	720	1	10.63
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.04	-145.9	586	2507	1113	1040	0.0	0.0	0	162	0.00	0.00	-143.32	0.000	16386	0.000	0.000	586	2507	2943	2955	2931	0	0	0	0	0	0	28.83	28.83	28.83
165	-1.04	-145.9	586	2507	2955	2932	3.3	-6.1	24	185	11.40	0.00	-5.10	0.000	18438	0.222	0.000	2345	2507	3116	3148	3084	0	0	0	0	0	0	24.43	28.83	24.88
369	-0.98	-145.9	2345	2507	3150	3084	34.3	-13.7	63	376	0.10	0.00	0.00	0.000	2054	0.149	0.000	2360	2507	3117	3150	3084	0	0	0	0	0	0	24.65	28.83	28.83
559	-0.98	-145.9	2360	2507	3150	3084	57.3	-12.0	100	566	0.00	2.12	0.00	0.000	516	0.000	0.086	2360	1339	3117	3150	3084	0	0	0	0	0	0	28.83	24.60	28.83
623	-0.98	-145.9	2360	1339	3150	3084	64.9	-11.9	112	629	0.00	2.03	0.00	0.000	1030	0.000	0.057	2360	2506	3117	3150	3084	0	0	0	0	0	0	28.83	24.67	28.83
812	-0.98	-145.9	2360	2506	3150	3084	86.3	-11.0	149	818	0.00	0.00	0.00	0.000	6	0.000	0.000	2360	2506	3117	3150	3084	0	0	0	0	0	0	28.83	28.83	28.83
1000	-0.98	-145.9	2360	2505	3150	3084	107.1	-11.0	186	1007	0.00	0.00	0.00	0.000	6	0.000	0.000	2360	2506	3117	3150	3084	0	0	0	0	0	0	28.83	28.83	28.83
1191	-0.98	-145.9	2359	2506	3150	3084	127.7	-10.3	223	1197	0.00	2.10	0.00	0.000	516	0.000	0.083	2360	1339	3117	3150	3084	0	0	0	0	0	0	28.83	24.63	28.83
1245	-0.98	-145.9	2360	1339	3150	3084	133.6	-11.0	233	1251	0.00	2.03	0.00	0.000	1030	0.000	0.060	2360	2504	3117	3150	3084	0	0	0	0	0	0	28.83	24.70	28.83
1434	-0.98	-145.9	2360	2503	3150	3084	153.5	-10.4	270	1440	0.00	0.00	0.00	0.000	6	0.000	0.000	2360	2504	3117	3150	3084	0	0	0	0	0	0	28.83	28.83	28.83
1624	-0.98	-145.9	2360	2503	3150	3084	173.8	-10.9	307	1629	0.00	0.00	0.00	0.000	6	0.000	0.000	2360	2504	3117	3150	3084	0	0	0	0	0	0	28.83	28.83	28.83
1812	-0.98	-145.9	2360	2504	3150	3084	194.6	-11.0	344	1818	0.00	2.12	0.00	0.000	516	0.000	0.086	2360	1334	3117	3150	3084	0	0	0	0	0	0	28.83	24.65	28.83
1901	-0.98	-145.9	2360	1334	3150	3084	204.4	-11.0	361	1907	0.00	2.03	0.00	0.000	1030	0.000	0.059	2360	2500	3117	3150	3084	0	0	0	0	0	0	28.83	24.72	28.83
2090	-0.98	-145.9	2360	2500	3150	3084	224.5	-10.5	398	2096	0.00	0.00	0.00	0.000	6	0.000	0.000	2360	2500	3117	3150	3084	0	0	0	0	0	0	28.83	28.83	28.83
2281	-0.98	-145.9	2359	2500	3150	3084	244.6	-10.4	435	2286	0.00	0.00	0.00	0.000	6	0.000	0.000	2360	2500	3117	3150	3084	0	0	0	0	0	0	28.83	28.83	28.83
2474	-0.98	-145.9	2360	2500	3150	3084	265.2	-10.8	452	2479	0.00	2.10	0.00	0.000	516	0.000	0.086	2360	1339	3117	3150	3084	0	0	0	0	0	0	28.83	24.68	28.83
2527	-0.98	-145.9	2359	1339	3150	3084	271.2	-10.8	463	2534	0.00	2.03	0.00	0.000	1030	0.000	0.060	2360	2501	3117	3150	3084	0	0	0	0	0	0	28.83	24.73	28.83
2714	-0.98	-145.9	2360	2501	3150	3084	291.5	-11.0	473	2715	0.00	0.00	0.00	0.000	6	0.000	0.000	2360	2501	3117	3150	3084	0	0	0	0	0	0	28.83	28.83	28.83
2792	end dive: TARGET_DEPTH_EXCEEDED
state	2792	begin apogee
2798	-0.25	0.0	2359	1987	3150	3084	300.1	-10.8	477	2922	0.85	0.00	119.70	1.076	10246	0.127	0.000	2520	1987	2520	2581	2460	0	0	0	0	0	0	24.70	28.83	23.44
2923	end apogee: CONTROL_FINISHED_OK
state	2923	begin climb
2925	1.04	145.9	2519	1987	2581	2458	305.4	0.0	483	3054	1.40	0.00	121.53	1.053	10758	0.091	0.000	2800	1987	1924	2004	1845	0	0	0	0	0	0	24.18	28.83	23.43
3235	1.12	172.1	2800	1987	2000	1831	285.1	8.8	514	3263	0.10	2.17	22.73	1.005	10500	0.102	0.079	2820	3165	1817	1904	1731	0	0	0	0	0	0	24.65	24.14	23.49
3334	1.12	172.1	2820	3165	1900	1728	275.0	10.2	534	3339	0.00	2.15	0.00	0.000	1030	0.000	0.088	2820	1998	1814	1900	1728	0	0	0	0	0	0	28.83	24.48	28.83
3532	1.13	186.5	2820	1998	1899	1723	256.2	9.3	546	3551	0.00	2.15	12.80	0.967	8452	0.000	0.079	2820	3169	1758	1846	1671	0	0	0	0	0	0	28.83	24.25	23.62
3598	1.16	186.5	2820	3169	1845	1670	249.7	10.1	559	3602	0.00	2.17	0.00	0.000	1030	0.000	0.090	2820	1992	1757	1844	1670	0	0	0	0	0	0	28.83	24.48	28.83
3785	1.20	191.8	2820	1992	1844	1667	231.6	9.7	596	3799	0.10	2.12	6.03	0.828	10500	0.103	0.078	2840	3165	1737	1825	1649	0	0	0	0	0	0	24.68	24.43	23.78
3848	1.20	191.8	2839	3166	1823	1649	224.9	11.3	607	3854	0.00	2.15	0.00	0.000	1030	0.000	0.091	2840	2000	1735	1823	1648	0	0	0	0	0	0	28.83	24.53	28.83
4037	1.20	191.8	2839	2000	1822	1647	204.5	10.5	644	4043	0.00	2.10	0.00	0.000	260	0.000	0.080	2840	3172	1735	1823	1647	0	0	0	0	0	0	28.83	24.60	28.83
4086	1.20	191.8	2839	3172	1822	1647	199.2	11.0	653	4092	0.00	2.15	0.00	0.000	1030	0.000	0.088	2840	1997	1734	1822	1647	0	0	0	0	0	0	28.83	24.60	28.83
4275	1.20	191.8	2839	1997	1821	1647	179.1	10.8	690	4283	0.00	2.10	0.00	0.000	260	0.000	0.078	2840	3174	1734	1821	1647	0	0	0	0	0	0	28.83	24.63	28.83
4326	1.20	191.8	2839	3174	1821	1647	173.6	11.8	699	4332	0.00	2.15	0.00	0.000	1030	0.000	0.086	2839	1993	1733	1821	1646	0	0	0	0	0	0	28.83	24.63	28.83
4514	1.20	191.8	2839	1993	1820	1646	153.0	11.0	736	4521	0.00	2.10	0.00	0.000	260	0.000	0.079	2840	3171	1733	1820	1646	0	0	0	0	0	0	28.83	24.64	28.83
4558	1.20	191.8	2839	3171	1820	1646	148.1	11.4	744	4564	0.00	2.15	0.00	0.000	1030	0.000	0.089	2840	1996	1733	1820	1646	0	0	0	0	0	0	28.83	24.63	28.83
4748	1.20	191.8	2839	1996	1820	1646	127.7	10.5	781	4755	0.00	2.08	0.00	0.000	260	0.000	0.078	2840	3166	1733	1820	1646	0	0	0	0	0	0	28.83	24.65	28.83
4802	1.20	191.8	2839	3166	1820	1646	121.7	11.1	791	4809	0.00	2.12	0.00	0.000	1030	0.000	0.087	2840	2000	1733	1820	1646	0	0	0	0	0	0	28.83	24.64	28.83
4992	1.20	191.8	2839	2000	1820	1646	101.9	10.1	828	4998	0.00	2.08	0.00	0.000	260	0.000	0.078	2840	3167	1733	1820	1646	0	0	0	0	0	0	28.83	24.66	28.83
5041	1.20	191.8	2839	3166	1820	1646	96.5	11.0	837	5047	0.00	2.12	0.00	0.000	1030	0.000	0.088	2839	2000	1733	1820	1646	0	0	0	0	0	0	28.83	24.65	28.83
5231	1.20	191.8	2839	2000	1820	1646	76.4	10.3	874	5238	0.00	2.08	0.00	0.000	260	0.000	0.078	2840	3166	1733	1820	1646	0	0	0	0	0	0	28.83	24.66	28.83
5290	1.20	191.8	2839	3167	1820	1646	70.1	10.9	885	5297	0.00	2.15	0.00	0.000	1030	0.000	0.090	2840	1993	1733	1820	1646	0	0	0	0	0	0	28.83	24.66	28.83
5480	1.20	191.8	2839	1992	1820	1646	49.9	10.5	922	5488	0.00	2.08	0.00	0.000	260	0.000	0.077	2840	3166	1733	1820	1646	0	0	0	0	0	0	28.83	24.68	28.83
5531	1.20	191.8	2839	3166	1819	1646	44.5	11.0	931	5537	0.00	2.12	0.00	0.000	1030	0.000	0.086	2840	1998	1732	1819	1646	0	0	0	0	0	0	28.83	24.67	28.83
5722	1.20	191.8	2840	1998	1819	1646	24.4	10.6	968	5728	0.00	2.08	0.00	0.000	260	0.000	0.075	2840	3172	1732	1819	1646	0	0	0	0	0	0	28.83	24.68	28.83
5751	1.20	191.8	2839	3172	1820	1646	21.1	10.7	973	5757	0.00	2.12	0.00	0.000	1030	0.000	0.084	2840	1998	1732	1819	1646	0	0	0	0	0	0	28.83	24.68	28.83
5934	end climb: SURFACE_DEPTH_REACHED
state	5934	begin surface coast
5950	end surface coast: CONTROL_FINISHED_OK
state	5950	begin surface